Added hot and cold plates

- Started spinner chuck io's

PLC/LibraryCandidates/FB_PI.TcPOU

@@ -0,0 +1,82 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_PI" Id="{d504557e-7fd7-4784-a00a-5d7d1bed0c95}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_PI
+VAR_INPUT
+	rSP : REAL;
+	rPV : REAL;
+	rKp : REAL;
+	rTn : REAL;
+	
+	xEnable : BOOL;
+	xSaturatedUpper : BOOL := FALSE;
+	xSaturatedLower : BOOL := FALSE;
+END_VAR
+VAR_OUTPUT
+	rMV : REAL;
+END_VAR
+VAR
+	
+	_rError : REAL := 0.0;
+	_rIntegral : REAL := 0.0;
+	_rProportinal : REAL := 0.0;
+	
+	_rDeltaIntegral : REAL := 0.0;
+	
+	_fbGetCurTaskIdx : GETCURTASKINDEX;
+	_rT : REAL;
+	
+	_xFirstCylce : BOOL := TRUE;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[IF _xFirstCylce THEN
+	_xFirstCylce := FALSE;
+	
+	// Get current task time
+	_fbGetCurTaskIdx();
+	_rT := LREAL_TO_REAL(UDINT_TO_LREAL(TwinCAT_SystemInfoVarList._TASKInfo[_fbGetCurTaskIdx.index].CycleTime) * 10E-5);
+END_IF
+
+
+IF xEnable THEN
+	_rError := rSP - rPV;
+ELSE
+	_rError := 0.0;
+	_rIntegral := 0.0;
+	rMV := 0.0;
+	RETURN;
+END_IF
+
+// Calculate proportinal part
+_rProportinal := rKp * _rError;
+
+// Calculate controller output
+rMV := _rProportinal + _rIntegral;
+
+// Calculate integral for this step
+IF rTn <> 0 THEN
+	_rDeltaIntegral := (rKp * _rT / rTn) * _rError;
+ELSE
+	_rDeltaIntegral := 0;
+END_IF
+
+// Only add new integral part if we are going away from the upper or lower bound
+IF (xSaturatedUpper AND (_rDeltaIntegral > 0.0))  THEN
+	_rDeltaIntegral := 0.0;
+END_IF
+
+IF (xSaturatedLower AND (_rDeltaIntegral < 0.0)) THEN
+	_rDeltaIntegral := 0.0;
+END_IF
+
+// Calculate integral part
+_rIntegral := _rIntegral + _rDeltaIntegral;
+
+// Reset integral with deactivated integral time
+IF (rTn = 0.0) AND (_rIntegral <> 0) THEN
+	_rIntegral := 0.0;
+END_IF]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>